There are no "12GB/S" or "6GB/S" hard drives. A capital "B" is bytes. Please review the
Terminology and Abbreviations Primer, which helps us all communicate more effectively.
In this case it's pretty clear that you mean "12Gbits/sec" or "6Gbits/sec" (or Gbps), but I'll make a little point here in a moment that shows why this pedantry is actually important.
A modern hard drive has an average transfer speed in the range 200MB/sec-250MB/sec. The capital-"B" definitely means bytes, and most tools measure drive speed in this manner. However, if you convert these numbers to bits-per-second, you end up at 1600Mbits/sec-2000Mbits/sec, or 1.6Gbits/sec-2Gbits/sec. This is barely more than original SATA speed (1.5Gbps), and less than original SAS speed (3Gbps).
A 2Gbit/sec drive will not go noticeably faster on 12Gbit/sec connectivity than 6Gbit/sec. There may be the teeniest bit less latency, never anything a human could notice, but you could probably measure it in a lab.
I would be more concerned about cabling and backplanes. In theory, you should be able to connect a 6Gbps device to a 12Gbps device and have it work. However, 6Gbps SAS often uses SFF-8087 while 12Gbps SAS often uses SFF-8643, so there is a physical connector difference that may make a difference if the R720 had previously been outfitted with a 12Gbps controller, and you are trying to replace it with an H310. The Dell stuff also has a tendency to have special stuff baked into the firmware to work with their stuff, so it is possible you might find that you need to acquire a Dell version of the LSI 3008 HBA (9340-8i) instead. 12Gbps SAS drives should work fine though.